Method for defect indication detection

ABSTRACT

Methods, apparatus and computer-readable media for detecting potential defects in a part are disclosed. A potential defect may be automatically detected in a part, and may be reported to an operator in various ways so that the operator may review the defect and take appropriate action.

CROSS-REFERENCE TO RELATED APPLICATIONS

This PCT utility application claims priority to and benefit fromcurrently pending provisional application having U.S. Patent ApplicationSer. No. 61/915,239, titled “Method for Defect Indication Detection” andhaving filing date Dec. 12, 2013, all of which is incorporated byreference herein.

BACKGROUND

The disclosed embodiments generally pertain to one or more methods ofdetecting defect indications in parts, as well as to apparatusconfigured to implement selected aspects of the disclosed methods, andcomputer-readable media (transitory and non-transitory) configured tocause a computing system to perform selected aspects of the disclosedmethods. More particularly, but not by way of limitation, presentembodiments relate to automatic detection of defect indications in apart using volumetric computed tomography (VCT)-based data. As usedherein, a “defect indication” or “indication” may refer to a portion orarea of a volume that potentially may have a defect. The term“indication” will be primarily used herein.

Industrial inspection increasingly is being performed usingthree-dimensional (3D) volumes. A VCT scan may be performed, e.g., on acomposite aircraft part under inspection, to generate a 3D stack, or“volume,” of 2D images, or “slices,” of the part. A human operator thenmay individually review each 2D slide to identify indication of defectstypically found in composite parts, such as porosity issues anddelamination.

Slice-by-slice 2D inspection of a 3D model can be time consuming,laborious and/or error prone. The operator may be required to review alarge number of 2D slices of the 3D volume, alone and in relation toeach other, in order to determine whether there are defects in theentire volume. For example, the operator may be required to observesubtle changes in grayscale occurring over multiple 2D images. Thisprocess is time consuming, tedious and error prone. It is also likelythat the analysis will vary greatly across operators, as well as betweenstages of an operator's shift, e.g., due to operator fatigue.

Previous attempts to automate aspects of defect indication detectionhave had various problems. For instance, to reduce beam hardening andscattering artifacts, pixels or voxels of a 3D volume of a part havebeen “normalized” to a “standard,” e.g., an aluminum rod. However,adding a rod to the field of view may degrade the images, and thisapproach only works with linear computed tomography (CT) scans, not VCT.Moreover, this approach requires little or no geometric variance betweenthe shape of the part and the shape of the standard.

In view of the aforementioned challenges and issues, it would bedesirable to automate as many steps of the defect detection process aspossible, so that the operator is less likely to make mistakes, will beable to review more parts per shift, and so that part inspection will bemore consistent across operators and shifts.

SUMMARY

According to one aspect, a VCT-based method for notifying a user of apotential defect in a composite part may include obtaining VCT scan datarepresenting a 3D volume of the composite part, normalizing the 3Dvolume against a generated background of the composite part thatincludes beam hardening and/or scattering artifacts, detecting anindication of the potential defect in the normalized 3D volume, andoutputting information about the indication to the user.

According to another aspect, a VCT-based method for notifying a user ofa potential defect in a composite part may include: importing data froma VCT acquisition apparatus over one or more computer networks, the datarepresenting a plurality of associated parts; segmenting a subset ofdata from the imported data, the subset representing an individual partof the plurality of associated parts; performing assisted defectrecognition to identify and classify indications of potential defects inthe subset; and reporting the indications of identified and classifiedpotential defects to an operator.

In various embodiments, apparatus may be configured to perform selectedaspects of the above-described methods. In various embodiments,computer-readable media (transitory and non-transitory) may includeinstructions configured to cause one or more computing devices toperform selected aspects of the above-described methods.

All of the above outlined features are to be understood as exemplaryonly and many more features and objectives of the method may be gleanedfrom the disclosure herein. Therefore, no limiting interpretation ofthis summary is to be understood without further reading of the entirespecification, claims, and drawings included herewith.

BRIEF DESCRIPTION OF THE ILLUSTRATIONS

Embodiments are illustrated in the following illustrations wherein:

FIG. 1 is a flow chart showing operations of a VCT-based method fornotifying an operator of an indication of a potential defect in a part,in accordance with various embodiments.

FIG. 2 is another flow chart showing operations of an embodiment of aVCT-based method for notifying an operator of an indication of apotential defect in a part, in accordance with various embodiments.

FIG. 3 depicts example results obtained through various normalizationtechniques, in accordance with various embodiments.

FIG. 4 depicts a ply model of a composite part, in accordance withvarious embodiments.

FIG. 5 depicts an example vector field that may be generated based onthe ply model of FIG. 4, in accordance with various embodiments.

FIGS. 6 and 7 depict more flow charts showing operations of two moreembodiments of methods for notifying an operator of an indication of apotential defect in a part, in accordance with various embodiments.

FIG. 8 schematically depicts example components of a computing devicethat may be configured to perform selected aspects of various methodsdescribed herein, in accordance with various embodiments.

DETAILED DESCRIPTION

Reference now will be made in detail to embodiments provided, one ormore examples of which are illustrated in the drawings. Each example isprovided by way of explanation, not limitation of the disclosedembodiments. In fact, it will be apparent to those skilled in the artthat various modifications and variations can be made in the presentembodiments without departing from the scope or spirit of thedisclosure. For instance, features illustrated or described as part ofone embodiment can be used with another embodiment to still yieldfurther embodiments. Thus it is intended that the present inventioncovers such modifications and variations as come within the scope of theappended claims and their equivalents.

FIG. 1 schematically depicts, at a relatively high level, an exampleVCT-based method 100 for notifying a user of an indication of apotential defect in a part. Various aspects of method 100 will bedepicted and described herein in more detail below. At block 102, VCTdata may be obtained, e.g., by feeding one or more parts through a VCTscanning system. At block 104, the VCT data may be imported into adatabase or other memory accessible by a computing system (e.g., 800 ofFIG. 8) configured with selected aspects of the present disclosure. Atblock 106, the imported data may be segmented, e.g., by part. Forexample, data associated with a 3D volume may be segregated or otherwisedistinguished from data representing volumes of other parts. In someembodiments, a connected volume may be selected, extracted, andautocropped.

At block 108, assisted defect recognition (ADR) may be performed. Aswill be described in more detail below, in various embodiments, ADR mayinclude normalizing voxels of a 3D volume to itself, denoising thevolume using various techniques, and using techniques such as regiongrowing to detect and/or classify indications of potential defects. Atblock 110, it may be determined based on the analysis performed at block108 whether the part under examination satisfies a predeterminedcriterion. If the answer is yes (e.g., the part shows no indications ofpotential defects), then an indication that the part passed may bestored, e.g., in a “pass” database.

If the answer at block 110 is no, on the other hand, then at block 112,various information may be reported to an operator so that the operatormay then review the potential detect more closely to determine whetherthe part truly fails, or whether the automatically perceived indicationis minor enough that the part should pass. For instance, in someembodiments, the computing system may render, e.g., on a display, a 3Drepresentation of the part with the detected indication superimposedover it or otherwise rendered on the representation. Additionally oralternatively, in some embodiments, the operator may be provided withdata related to the indication, such as a signal strength associatedwith the indication. In various embodiments, “signal strength” may referto any measurement of how probable the indication is to beingrejectable. Various measurements may be used, such as a percentage drop(e.g., from neighboring voxels), a signal to noise ratio, a contrast tonoise ratio, amplitude, and so forth.

At block 114, based on data provided to the operator at block 112, theoperator may determine whether the part should pass (e.g., theindication is not of a critical nature) or if it should fail. Theoperator may provide his or her input to the computing system, which maythen store an indication of whether the part passed or failed. By havingoperations 108-112 performed automatically by one or more computingsystems, the operator may be spared from having to review every 2D sliceof the 3D volume, alone and in relation to neighboring slices, todetermine whether there are indications of potential defects in thepart.

FIG. 2 is a lower level schematic depiction of a method 200 that may beimplemented as part of method 100 of FIG. 1. Block 106 (segmentation) isdepicted again to demonstrate where in method 100 the operations of FIG.2 may (but are not required to) occur. As shown below block 106 in FIG.2, the segmentation may include choosing a connected volume (e.g., froma plurality of connected volumes), extracting that volume, andautocropping that volume so that portions of other connected volumes areeliminated. In various embodiments, output of operations associated withblock 106 may include a 3D volume of a single part for inspection.

At block 220, the autocropped volume may be normalized to reduce and/oreliminate artifacts introduced by phenomenon like beam hardening andscattering. In various embodiments, the volume may be normalized toitself. For instance, in various embodiments, a 3D “background” volumeof the part may be generated. The background model may be smoothed,e.g., using a non-local means filter, so that beam hardening and/orscattering artifacts, as well as edges, are preserved. Voxels of a 3Dvolume of the part may then be normalized, voxel by voxel, against thebackground volume. For example, in some embodiments, the backgroundvolume may be subtracted from the 3D volume of the part, effectivelyremoving beam hardening and scattering artifacts. The operationsperformed in association with block 220 may also be referred to as“artifact removal.” In some embodiments, output of the variousoperations associated with block 220 may be a preprocessed part.

FIG. 3 depicts example results 300 from normalizing VCT scans of a partwith a hanger cutout that was fixtured in the VCT scanner. The fixtureand the cutout may adversely affect normalization—it is expected that aslice should be constant through the part because the part is of uniformdensity. On the left, the VCT scans were normalized against a standardaluminum rod. On the right, the VCT scans were normalized by subtractinga background volume, as described in association with FIG. 2. It can beseen that sigma times two (2 u) is far greater on the left than it is onthe right.

Referring back to FIG. 2, at block 222, one or more indications ofpotential defects may be detected in the normalized volume. In someembodiments, the normalized volume may first be “de-noised.” VCTnumbers, e.g., CT scan numbers, may vary with a maximum CT path length.This may be especially true with complex geometries. To avoid noise fromlonger path lengths infecting lower path length sections, and to avoidfalse positive rates in different areas of a part, the 3D volume of thepart may be de-noised, slice by slice, based on a priori knowledge ofvariance versus CT path length.

In some embodiments, a bilateral filter, which may or may not beadaptive, may be employed, e.g., to preserve edges. A distance map maybe calculated to approximate maximum path length in a given slice of the3D VCT volume. Smoothing power may be determined by a similarity value,a range value (e.g., minimum edge strength), σ_(r), and a spatialextent, σ_(s). In some embodiments, a linear regression model may beempirically fit to the similarity value and the maximum path length. Insome embodiments, the following equation may be used:

σ_(r) =m×d _(max) +b

Where m and b are regression parameters for a linear model, and d_(max)is the maximum path length in a slice.

Operations associated with the detect block 222 may also includeconstruction of masks used to identify an exterior (e.g., an edge) ofthe part. A porosity of the part may be determined, e.g., globally inthe part and in local neighborhoods. In some embodiments, operationsassociated with block 222 may be used to identify “seeds,” or seedvoxels, which may indicate where in the 3D volume indications ofpotential defects may exist. In some embodiments, indications may beshaded in various hues, colors, brightness levels, etc., to distinguishthem from adjacent areas.

In various embodiments, regions of the 3D volume where indications ofpotential defects are detected may be “grown,” e.g., to encompass theentirety of an indication of a potential defect. Starting with the seedvoxel, a region growing algorithm may be executed to “grow” a regionaround the seed by sequentially evaluating neighboring voxels based onvarious criteria. If neighboring voxels satisfy the criteria, they maybe added, thereby growing the region of the indication of the potentialdefect. Region growing operations associated with the detect block 222may be “best effort” operations.

At block 224, indications may be classified. In some embodiments,classification may include classifying a potential defect indication assignificant enough to be presented to the operator. In some embodiments,classification may include analyzing pixels/voxels that were shadedduring operations associated with block 222. Various classificationdecisions may be made about those shaded pixels/voxels. In someembodiments, it may be determined whether a group of shadedpixels/voxels actually indicates multiple separate defects. In someembodiments, it may be determined whether two separate groups of shadedpixels/voxels are actually indicative of a single large defect. In someembodiments, potential defect indications may be grown in a directionnormal to a plane defined by a slice of the 3D volume. These techniquesmay reduce or eliminate false positives. In some embodiments, a signalarea for each indication of a potential defect may be identified. Abackground area for each indication of a potential defect may also beidentified.

In some embodiments, indications of potential defects may be grown onceagain using region grown algorithms. This time, however, the indicationsmay be grown along boundaries defined in a computer-aided design (CAD)model of the part. Composite parts such as ceramic matrix composites maybe built in layers. In many instances, indications of potential defectsin such parts do not extend across layers. This characteristic ofcomposite parts may be leveraged to guide and/or assist in growingregions. Voxels on the same ply as a seed voxel may be much more likelyto satisfy the region growing criterion than voxels on a neighboringply.

FIG. 4 depicts an example of a ply model image 400 of a part 402. FIG. 5depicts a vector field 500 that may be generated from the stacked plymodel of FIG. 4. In various embodiments, each voxel v_(i) to beevaluated may be associated with a vector F_(i) in the vector field thatdemonstrates a direction in which indications of potential defects areless likely to grow into (e.g., towards an adjacent layer). For eachvoxel v_(i) to be evaluated, a growing direction G_(i) from v_(i) to asource voxel v_(j) may be calculated by G_(i)=v_(i)−v_(j). In variousembodiments, a user may provide two pairs of thresholds for evaluatingwhether a given voxel v_(i) should be added to a growing region. Onepair may be a coarse criterion (e.g., coarse_(min) and coarse_(max))that is orthogonal to the growing direction G_(i). The other pair may bea stricter, fine criterion (e.g., fine_(min) and fine_(max)) that isparallel to the growing direction G_(i). In each case, the minimum maybe selected to be less than a current pixel/voxel and the maximum may beselected to be greater than the current pixel/voxel. In someembodiments, a combined criterion C may be determined by the followingformula:

C=(1−α)×C ₁ +α×C ₂

where α is the inner product between growing direction G_(i) and vectordirection F_(i), C₁ is the loose pair of thresholds and C₂ is thestricter pair of thresholds. C may be the dynamically generatedthresholds for the voxel under evaluation.

In various embodiments, one region growing process that begins at oneseed voxel associated with one indication of a potential defect may notinteract or interfere with another region growing process that startswith another seed voxel associated with another indication. Accordingly,in various embodiments, region growing processes for each seed voxel mayeach be executed in its own thread of a multi-threaded environment. Insome embodiments, the output of operations associated with block 224 mayinclude indication boundaries.

Referring back to FIG. 2, at block 226, the indications of potentialdefects within the indication boundaries output by the operationsassociated with block 224 may be measured, e.g., to provide the operatorwith sufficient data to determine how to address an indication of apotential defect. Feret diameters may be determined for each indication.A signal strength may be calculated as well, e.g., based on thebackground of each indication identified in the operations associatedwith block 224. A percentage drop (or another signal strengthmeasurement) from neighboring CT pixel/voxel values may be determined.

In some embodiments, “zoning rules” may also be applied to determinewhether indications are worthy of being flagged for operator review.Zoning rules may include different rejection criteria for differentregions (i.e. “zones”) of the part. For example, an indication detectedin a first region of the part may not be likely to cause troubledownstream, e.g., because defects in that region may not be likely toimpact downstream performance. However, an indication detected in asecond region (e.g., a very thin or fragile portion of the part, or azone of high internal residual stress) may be more likely to causedownstream performance issues, such as failure of the part. Thus,different criteria may be used for the first and second regions,respectively, to determine whether to notify the operator of thoseindications.

In various embodiments, the output of operations associated with block226 may be one or more reports to the operator in various forms. In someembodiments, the 3D volume of the part may be rendered on a displaydevice. Any indications that satisfied the zoning rules described abovemay be superimposed or otherwise rendered on the 3D volume. Additionallyor alternatively, raw data about each indication—e.g., its signalstrength, percent drop off from neighboring voxels, etc.—may be reportedto the operator, e.g., in a spread sheet. The operator may then use thisoutput data to make a determination about each indication (e.g., is itsignificant enough to reject the part?).

FIG. 6 depicts, in more detail than FIG. 1 or 2, an example process 600for detecting indications and flagging them for an operator. At block602, a part mask may be generated, and hole fill and erode imageprocessing operations may be performed. At block 604, a Z domaintransform may be performed, e.g., to transform the 3D model and thegenerated background to the Z-domain (e.g., by mean and standarddeviation) so that they can be combined accurately. In some embodiments,this transformation may be performed using an equation such as thefollowing:

Z _(slice)=(x−μ)/σ

where x represents one thing, μ represents a mean of a slice, and σrepresents a standard deviation of the slice.

At block 606, the 3D volume of the part may be self-normalized asdescribed above with relation to the operations associated with block220 of FIG. 2, e.g., using a non-local means (“NLM” in FIG. 6) filter.As described above, in some embodiments, a Z-combine operation may alsobe performed using the 3D volume and a calculated background volume. Forexample, both the 3D volume of the part and the generated background maybe subtracted in the Z-domain. At block 608, an inverse Z transformation(Z⁻¹) may be performed on the 3D volume.

At block 610, the denoising described above in association with block222 of FIG. 2 may be performed, e.g., using the aforementioned adaptivebilateral filter. At block 612, Z statistics such as mean and standarddeviation may be calculated per slice.

At block 614, a global porosity may be calculated. For instance, in someembodiments, a global threshold calculation may be performed on thepreprocessed volumes. At block 616, a local porosity may be calculated,e.g., by calculating a top hat transform and then comparing the resultto a threshold. At block 618, a material area—i.e. an area of an imagein which it is likely that few or no defects will be found—may bedefined.

At block 620, seed regions (e.g., starting at seed voxels) may be grownas described above. In some embodiments, gradient and/or watershed imageprocessing techniques may be employed to grow regions. At block 622,indications of potential defects that do not satisfy various criteriamay be filtered out. At block 624, backgrounds for the remainingindications of potential defects may be calculated. At block 626, asignal strength (e.g., percentage drop, or “SBR”) for each indication ofa potential defect may be calculated, e.g., using equations such as thefollowing:

SBR=μ _(b)−σ_(min))/μ_(b)

where μ_(b) represents a mean and σ_(min) represents a standarddeviation. At block 628, a percentage drop in signal strength may bereported, e.g., to the operator, so that the operator can decide whatfurther action should be taken.

FIG. 7 depicts a method 700 that is very similar to method 600 of FIG.6, and thus most blocks are labeled identically. However, block 620 ofmethod 600 is replaced with block 720, in which directional vectors areused in conjunction with a ply composite model as described above inorder to grow regions. Additionally, block 622 is replaced with block722, in which non-applicable indications are filtered in accordance withvarious zones of the part, as well as with zoning criteria associatedwith each zone, as described above. Finally, new operation 727 is addedin which various measurements (e.g., Feret diameter, curved width) ofeach indication may be calculated.

FIG. 8 depicts an example computing system 800 that may be configured toimplement various aspects of the selected disclosure, including but notlimited to selected aspects of methods 100, 200, 600 and 700. Computingsystem 800 may include one or more buses 801 that may be used tooperably couple various computing components. The various computingcomponents may include, but are not limited to, one or more processors802, memory 804 (RAM, ROM, HD, etc.), one or more input/output devices806 (e.g., keyboard, mouse, display, printer, etc.), one or morecommunication interfaces 808 (e.g., wired or wireless), and so forth. Invarious embodiments, computing system 800 may receive VCT scanned datafrom a VCT scanning system (not shown), e.g., via communicationinterface 808, and may perform selected aspects of the presentdisclosure to flag indications in a part for operator review.

The foregoing description of structures and methods has been presentedfor purposes of illustration. It is not intended to be exhaustive or tolimit the structures and methods to the precise forms and/or stepsdisclosed, and obviously many modifications and variations are possiblein light of the above teaching. Features described herein may becombined in any combination. Steps of a method described herein may beperformed in any sequence that is physically possible. It is understoodthat while certain forms of composite structures have been illustratedand described, it is not limited thereto and instead will only belimited by the claims, appended hereto.

While multiple inventive embodiments have been described and illustratedherein, those of ordinary skill in the art will readily envision avariety of other means and/or structures for performing the functionand/or obtaining the results and/or one or more of the advantagesdescribed herein, and each of such variations and/or modifications isdeemed to be within the scope of the embodiments described herein. Moregenerally, those skilled in the art will readily appreciate that allparameters, dimensions, materials, and configurations described hereinare meant to be exemplary and that the actual parameters, dimensions,materials, and/or configurations will depend upon the specificapplication or applications for which the inventive teachings is/areused. Those skilled in the art will recognize, or be able to ascertainusing no more than routine experimentation, many equivalents to thespecific inventive embodiments described herein. It is, therefore, to beunderstood that the foregoing embodiments are presented by way ofexample only and that, within the scope of the appended claims andequivalents thereto, inventive embodiments may be practiced otherwisethan as specifically described and claimed. Inventive embodiments of thepresent disclosure are directed to each individual feature, system,article, material, kit, and/or method described herein. In addition, anycombination of two or more such features, systems, articles, materials,kits, and/or methods, if such features, systems, articles, materials,kits, and/or methods are not mutually inconsistent, is included withinthe inventive scope of the present disclosure.

Examples are used to disclose the embodiments, including the best mode,and also to enable any person skilled in the art to practice theapparatus and/or method, including making and using any devices orsystems and performing any incorporated methods. These examples are notintended to be exhaustive or to limit the disclosure to the precisesteps and/or forms disclosed, and many modifications and variations arepossible in light of the above teaching. Features described herein maybe combined in any combination. Steps of a method described herein maybe performed in any sequence that is physically possible.

All definitions, as defined and used herein, should be understood tocontrol over dictionary definitions, definitions in documentsincorporated by reference, and/or ordinary meanings of the definedterms. The indefinite articles “a” and “an,” as used herein in thespecification and in the claims, unless clearly indicated to thecontrary, should be understood to mean “at least one.” The phrase“and/or,” as used herein in the specification and in the claims, shouldbe understood to mean “either or both” of the elements so conjoined,i.e., elements that are conjunctively present in some cases anddisjunctively present in other cases.

It should also be understood that, unless clearly indicated to thecontrary, in any methods claimed herein that include more than one stepor act, the order of the steps or acts of the method is not necessarilylimited to the order in which the steps or acts of the method arerecited.

1. A volumetric computed tomography (VCT)-based method for providingnotification of a potential defect in a composite part, comprising:obtaining (102) VCT scan data representing a three-dimensional (3D)volume of the composite part; normalizing (220) the 3D volume against agenerated background of the composite part that includes beam hardeningand/or scattering artifacts; detecting (222) an indication of thepotential defect in the normalized 3D volume; and outputting (112)information about the indication.
 2. The VCT-based method of claim 1,wherein the outputting comprises rendering, on a display (806), a 3Dimage of the composite part that includes the indication.
 3. TheVCT-based method of claim 1, further comprising determining (224) aboundary of the detected indication based at least in part on acomputer-aided design (CAD) model, wherein the information about theindication includes information about the boundary.
 4. The VCT-basedmethod of claim 3, further comprising: identifying (222) a seed voxel ofthe indication; and performing (620, 720) region growing around the seedvoxel.
 5. The VCT-based method of claim 4, wherein the CAD model is aply model (400) of the composite part, and growth of the region aroundthe seed voxel is constrained by the ply model.
 6. The VCT-based methodof claim 1, further comprising denoising (610) the normalized 3D volumeusing an adaptive bilateral filter.
 7. The VCT-based method of claim 1,further comprising denoising (606) the normalized 3D volume using anon-local means filter.
 8. The VCT-based method of claim 1, furthercomprising: identifying (224) a signal area of the indication; andidentifying (220) a background of the indication based on acomputer-aided design (CAD) model.
 9. The VCT-based method of claim 8,further comprising calculating (226) a signal strength of the indicationbased on the signal area and the background of the indication.
 10. TheVCT-based method of claim 9, wherein the normalizing includes generating(602) a part mask of the composite part.
 11. The VCT-based method ofclaim 10, further comprising subtracting (220) the generated backgroundof the composite part from the 3D volume of the composite part.
 12. TheVCT-based method of claim 1, wherein the detecting comprises calculating(222) global and local porosities of the 3D volume.
 13. A system (800)for notifying a user of a potential defect in a composite part,comprising: one or more processors (802); memory (804) operably coupledto the one or more processors, the memory containing instructions that,in response to execution of the instructions by the one or moreprocessors, cause the one or more processors to: import (104) data froma VCT acquisition apparatus over one or more computer networks, the datarepresenting a plurality of associated parts; segment (106) a subset ofdata from the imported data, the subset representing an individual partof the plurality of associated parts; perform (108) assisted defectrecognition to identify and classify indications of potential defects inthe subset of data; and report (112) the indications of identified andclassified potential defects to an operator.
 14. The system of claim 13,wherein assisted defect recognition includes normalization (220) of thesubset of data against a generated background volume of the individualpart that includes scattering or beam hardening artifacts.
 15. Thesystem of claim 13, wherein assisted defect recognition includesdenoising (222) the subset of data using an adaptive bilateral ornon-local means filter.